Adjustable force and ball bearing attachment mechanism for docking cannulas to surgical robotic arms

Abstract

An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly comprising an actuator coupled to a clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and a lock out assembly coupled to the clamp assembly to control the transition of the clamp, the lock out assembly having a hook that is dimensioned to engage a bearing coupled to the actuator when the clamp is in the open position and disengage the bearing to allow the clamp to automatically transition to the closed position.

What is claimed is: 
     
       1. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:
 a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly comprising an actuator coupled to a clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and 
 a lock out assembly coupled to the clamp assembly to control the transition of the clamp, the lock out assembly having a hook that is dimensioned to engage a bearing coupled to the actuator when the clamp is in the open position and disengage the bearing to allow the clamp to automatically transition to the closed position. 
 
     
     
       2. The apparatus of  claim 1  wherein the hook comprises a tip that extends beyond a tangent point of the bearing to engage the bearing, and when the tip is aligned with the tangent point, the hook disengages the bearing to allow the clamp to transition to the closed position. 
     
     
       3. The apparatus of  claim 1  wherein aligning a tip of the hook with a tangent point causes a rotation of the bearing that allows the hook to disengage the bearing. 
     
     
       4. The apparatus of  claim 1  wherein the hook is coupled to a spring to bias the hook to engage the bearing. 
     
     
       5. The apparatus of  claim 1  wherein the engagement or disengagement between the hook and the bearing provides an audible feedback or haptic feedback that notifies a user of an engagement state of the lock out assembly. 
     
     
       6. The apparatus of  claim 1  wherein the lock out assembly is disengaged from the bearing when contacted by the cannula inserted into the clamp assembly. 
     
     
       7. The apparatus of  claim 1  further comprising:
 an adjustment mechanism operable to adjust a force required to cause the hook to engage or disengage the bearing. 
 
     
     
       8. The apparatus of  claim 7  wherein the adjustment mechanism comprises a set screw that is adjustable between a first position that increases a spacing between the hook and the bearing and a second position that decreases the spacing between the hook and the bearing. 
     
     
       9. The apparatus of  claim 8  wherein in the first position, a force required to cause the hook to disengage the bearing is reduced. 
     
     
       10. The apparatus of  claim 8  wherein in the second position, a force required to cause the hook to disengage the bearing is increased. 
     
     
       11. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:
 a clamp operable to transition between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; 
 a locking assembly coupled to the clamp to hold the clamp in the open position and release the clamp to the closed position upon application of a force by a cannula, the locking assembly having a lock out hook that engages a lock out bearing of the clamp in the open position and disengages the lock out bearing to release the clamp to the closed position; and 
 an adjustment member operable to adjust a force required to disengage the lock out bearing. 
 
     
     
       12. The apparatus of  claim 11  wherein the lock out hook is biased toward engagement of the lock out bearing by a spring. 
     
     
       13. The apparatus of  claim 12  wherein the adjustment member shifts a position of the lock out hook away from the lock out bearing to reduce the force required to disengage the lock out bearing. 
     
     
       14. The apparatus of  claim 12  wherein the adjustment member shifts a position of the lock out hook toward the lock out bearing to increase the force required to disengage the lock out bearing. 
     
     
       15. The apparatus of  claim 12  wherein the adjustment member comprises a set screw extending through the lock out hook to an interface between the lock out hook and the lock out bearing. 
     
     
       16. The apparatus of  claim 15  wherein tightening the set screw shifts a position of the lock out hook away from the lock out bearing. 
     
     
       17. The apparatus of  claim 15  wherein loosening the set screw shifts a position of the lock out hook toward the lock out bearing. 
     
     
       18. The apparatus of  claim 11  wherein the lock out bearing is a ball bearing. 
     
     
       19. The apparatus of  claim 18  wherein the clamp comprises an actuator that is coupled to a first clamp component of the clamp. 
     
     
       20. The apparatus of  claim 19  wherein the actuator is operable to move the first clamp component between the open position and the closed position, and the ball bearing is coupled to the actuator.